Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements

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• 作者：Shan Cheng ; Li Yu ; Dongmei Zhang ; Jinchen Ji
• 关键词：Consensus ; euler ; Lagrange system ; multi ; agent system ; nonlinear protocol
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：450-456
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrange systems reach consensus. Proposed protocols need only the relative position measurements and the velocity measurements of one Euler-Lagrange system. Finally, numerical simulations are given to illustrate the theoretical results.